Apparatus and method of controlling automatic taking-out of vehicle

Abstract

Disclosed are an apparatus and a method of controlling automatic taking-out of a vehicle. The apparatus for controlling automatic taking-out of a vehicle includes: a vehicle taking-out space recognizing unit configured to detect obstacles at front and rear sides of a vehicle and a curb at a lateral side of the vehicle to recognize a vehicle taking-out space; an interface unit configured to display the recognized vehicle taking-out space, the recognized obstacles at the front and rear sides of the vehicle, and the vehicle as images, and receive a vehicle taking-out movement trace from a user; a vehicle taking-out route calculating unit configured to sequentially calculate turning routes for parallelly taking out the vehicle based on the recognized vehicle taking-out space and the user input; and a controller configured to control steering for parallelly taking out the vehicle according to the calculated sequential turning routes.

What is claimed is: 
     
         1 . An apparatus for controlling automatic taking-out of a vehicle, the apparatus comprising:
 a vehicle taking-out space recognizing unit configured to detect obstacles at front and rear sides of a vehicle and a curb at a lateral side of the vehicle to recognize a vehicle taking-out space;   an interface unit configured to display the recognized vehicle taking-out space, the recognized obstacles at the front and rear sides of the vehicle, and the vehicle as images, and receive a vehicle taking-out movement trace from a user;   a vehicle taking-out route calculating unit configured to sequentially calculate turning routes for parallelly taking out the vehicle based on the recognized vehicle taking-out space and the user input; and   a controller configured to control steering for parallelly taking out the vehicle according to the calculated sequential turning routes.   
     
     
         2 . The apparatus of  claim 1 , wherein the vehicle taking-out space recognizing unit measures distance values with the front obstacle to measure a relative first position value with respect to the front obstacle, measures distance values with the rear obstacle to measure a relative second position value with respect to the rear obstacle, and measures distance values with the curb to measure a relative third position value with respect to the curb. 
     
     
         3 . The apparatus of  claim 1 , wherein the vehicle taking-out route calculating unit calculates a first turning route, a second turning route, and an additional route for parallelly taking out the vehicle based on a relative position with respect to a corner of the front obstacle recognized by the vehicle taking-out space recognizing unit and a user input. 
     
     
         4 . The apparatus of  claim 3 , wherein the vehicle taking-out route calculating unit calculates a vehicle taking-out start position for each turning route and a first stop position, from which the vehicle moves to a vehicle taking-out end position based on the user input within the shortest distance when calculating each of the first turning route, the second turning route, and the additional route. 
     
     
         5 . The apparatus of  claim 3 , wherein the vehicle taking-out route calculating unit calculates a second stop position satisfying a condition that one side end of a center line of a rear wheel of the vehicle meets a y-axis of a corner of the front obstacle. 
     
     
         6 . The apparatus of  claim 3 , wherein the vehicle taking-out route calculating unit calculates the additional route from the second stop position to a vehicle taking-out end position, at which a touch of the user input is ended, based on the user input. 
     
     
         7 . The apparatus of  claim 1 , wherein the vehicle taking-out route calculating unit calculates a first turning angle, a vehicle taking-out start position, and a first stop position satisfying a collision avoidance condition with respect to a corner of the front obstacle while maximally steering the vehicle to calculate a first turning route, and calculates a second turning angle and a second stop position satisfying a condition that one side end of a center line of a rear wheel of the vehicle meets a y-axis of a corner of the front obstacle to calculate a second turning route. 
     
     
         8 . The apparatus of  claim 1 , wherein the controller controls state information about parallel taking-out of the vehicle to be output through the interface unit through at least one manner of a video, audio, and a character. 
     
     
         9 . A method of controlling automatic taking-out of a vehicle, the method comprising:
 detecting obstacles at front and rear sides of a vehicle and a curb at a lateral side of the vehicle to recognize a vehicle taking-out space;   displaying the recognized vehicle taking-out space, the recognized obstacles at the front and rear sides of the vehicle, and the vehicle as images, and receiving a vehicle taking-out movement trace from a user;   sequentially calculating turning routes for parallelly taking out the vehicle based on the recognized vehicle taking-out space and the user input; and   controlling steering for parallelly taking out the vehicle according to the calculated sequential turning routes.   
     
     
         10 . The method of  claim 9 , wherein the recognizing of the vehicle taking-out space includes:
 measuring distance values with the front obstacle to measure a relative first position value with respect to the front obstacle;   measuring distance values with the rear obstacle to measure a relative second position value with respect to the rear obstacle; and   measuring distance values with the curb to measure a relative third position value with respect to the curb.   
     
     
         11 . The method of  claim 9 , wherein the calculating of the turning routes includes:
 calculating a first turning angle, a vehicle taking-out start position, and a first stop position satisfying a collision avoidance condition with respect to a corner of the front obstacle while maximally steering the vehicle to calculate a first turning route; and   calculating a second turning angle and a second stop position satisfying a condition that one side end of a center line of a rear wheel of the vehicle meets a y-axis of a corner of the front obstacle to calculate a second turning route.   
     
     
         12 . The method of  claim 11 , wherein the calculating of the turning routes further includes calculating the additional route from the second stop position to a vehicle taking-out end position, at which a touch of the user input is ended, based on the user input. 
     
     
         13 . The method of  claim 11 , wherein the controlling of the steering includes:
 forwardly turning, by the vehicle, from the vehicle taking-out start position to the first stop position at the first turning angle according to the first turning route;   forwardly turning, by the vehicle, from the first stop position to the second stop position at the second turning angle according to the second turning route; and   reversing, by the vehicle, from the second stop position to the vehicle taking-out end position according to the additional route.   
     
     
         14 . The method of  claim 9 , further comprising outputting state information about parallel taking-out of the vehicle to an output device by at least one manner of a video, an audio, and a character while parallelly taking out the vehicle.